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DotRecastNetSim
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float[] -> Vector3f

This commit is contained in:
ikpil 2023-04-22 12:34:39 +09:00
parent f232d5638d
commit b80b784e31
1 changed files with 18 additions and 16 deletions
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34
src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
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@ -288,16 +288,14 @@ namespace DotRecast.Recast
private static float[] intersectCylinder(float[] rectangle, Vector3f start, Vector3f end, Vector3f axis, float radiusSqr) private static float[] intersectCylinder(float[] rectangle, Vector3f start, Vector3f end, Vector3f axis, float radiusSqr)
{ {
float[] s = mergeIntersections( float[] s = mergeIntersections(
rayCylinderIntersection(new float[] rayCylinderIntersection(Vector3f.Of(
{
clamp(start[0], rectangle[0], rectangle[2]), rectangle[4], clamp(start[0], rectangle[0], rectangle[2]), rectangle[4],
clamp(start[2], rectangle[1], rectangle[3]) clamp(start[2], rectangle[1], rectangle[3])
}, start, axis, radiusSqr), ), start, axis, radiusSqr),
rayCylinderIntersection(new float[] rayCylinderIntersection(Vector3f.Of(
{
clamp(end[0], rectangle[0], rectangle[2]), rectangle[4], clamp(end[0], rectangle[0], rectangle[2]), rectangle[4],
clamp(end[2], rectangle[1], rectangle[3]) clamp(end[2], rectangle[1], rectangle[3])
}, start, axis, radiusSqr)); ), start, axis, radiusSqr));
float axisLen2dSqr = axis[0] * axis[0] + axis[2] * axis[2]; float axisLen2dSqr = axis[0] * axis[0] + axis[2] * axis[2];
if (axisLen2dSqr > EPSILON) if (axisLen2dSqr > EPSILON)
{ {
@ -340,12 +338,16 @@ namespace DotRecast.Recast
{ {
int j = (i + 1) % 4; int j = (i + 1) % 4;
// Ray against sphere intersection // Ray against sphere intersection
float[] m = { rectangleOnPlane[i][0] - start[0], rectangleOnPlane[i][1] - start[1], rectangleOnPlane[i][2] - start[2] }; var m = Vector3f.Of(
float[] d = rectangleOnPlane[i][0] - start[0],
{ rectangleOnPlane[i][1] - start[1],
rectangleOnPlane[j][0] - rectangleOnPlane[i][0], rectangleOnPlane[j][1] - rectangleOnPlane[i][1], rectangleOnPlane[i][2] - start[2]
);
var d = Vector3f.Of(
rectangleOnPlane[j][0] - rectangleOnPlane[i][0],
rectangleOnPlane[j][1] - rectangleOnPlane[i][1],
rectangleOnPlane[j][2] - rectangleOnPlane[i][2] rectangleOnPlane[j][2] - rectangleOnPlane[i][2]
}; );
float dl = dot(d, d); float dl = dot(d, d);
float b = dot(m, d) / dl; float b = dot(m, d) / dl;
float c = (dot(m, m) - radiusSqr) / dl; float c = (dot(m, m) - radiusSqr) / dl;
@ -400,12 +402,12 @@ namespace DotRecast.Recast
return rayCylinderIntersection(xSlabRayIntersection(rectangle, start, axis, x), start, axis, radiusSqr); return rayCylinderIntersection(xSlabRayIntersection(rectangle, start, axis, x), start, axis, radiusSqr);
} }
private static float[] xSlabRayIntersection(float[] rectangle, Vector3f start, Vector3f direction, float x) private static Vector3f xSlabRayIntersection(float[] rectangle, Vector3f start, Vector3f direction, float x)
{ {
// 2d intersection of plane and segment // 2d intersection of plane and segment
float t = (x - start[0]) / direction[0]; float t = (x - start[0]) / direction[0];
float z = clamp(start[2] + t * direction[2], rectangle[1], rectangle[3]); float z = clamp(start[2] + t * direction[2], rectangle[1], rectangle[3]);
return new float[] { x, rectangle[4], z }; return Vector3f.Of(x, rectangle[4], z);
} }
private static float[] zSlabCylinderIntersection(float[] rectangle, Vector3f start, Vector3f axis, float radiusSqr, float z) private static float[] zSlabCylinderIntersection(float[] rectangle, Vector3f start, Vector3f axis, float radiusSqr, float z)
@ -413,16 +415,16 @@ namespace DotRecast.Recast
return rayCylinderIntersection(zSlabRayIntersection(rectangle, start, axis, z), start, axis, radiusSqr); return rayCylinderIntersection(zSlabRayIntersection(rectangle, start, axis, z), start, axis, radiusSqr);
} }
private static float[] zSlabRayIntersection(float[] rectangle, Vector3f start, Vector3f direction, float z) private static Vector3f zSlabRayIntersection(float[] rectangle, Vector3f start, Vector3f direction, float z)
{ {
// 2d intersection of plane and segment // 2d intersection of plane and segment
float t = (z - start[2]) / direction[2]; float t = (z - start[2]) / direction[2];
float x = clamp(start[0] + t * direction[0], rectangle[0], rectangle[2]); float x = clamp(start[0] + t * direction[0], rectangle[0], rectangle[2]);
return new float[] { x, rectangle[4], z }; return Vector3f.Of(x, rectangle[4], z);
} }
// Based on Christer Ericsons's "Real-Time Collision Detection" // Based on Christer Ericsons's "Real-Time Collision Detection"
private static float[] rayCylinderIntersection(float[] point, Vector3f start, Vector3f axis, float radiusSqr) private static float[] rayCylinderIntersection(Vector3f point, Vector3f start, Vector3f axis, float radiusSqr)
{ {
Vector3f d = axis; Vector3f d = axis;
Vector3f m = Vector3f.Of(point[0] - start[0], point[1] - start[1], point[2] - start[2]); Vector3f m = Vector3f.Of(point[0] - start[0], point[1] - start[1], point[2] - start[2]);